Disturbance Observer-Based Repetitive Control System With Nonminimal State-Space Realization and Experimental Evaluation

Wang, Liuping and Freeman, Chris T. and Rogers, Eric and Young, Peter C. (2022) Disturbance Observer-Based Repetitive Control System With Nonminimal State-Space Realization and Experimental Evaluation. IEEE Transactions on Control Systems Technology. pp. 1-8. ISSN 1063-6536

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Abstract

This brief develops a disturbance observer-based repetitive control system using a non-minimal state-space (NMSS) realization where all state variables correspond to the system’s input and output variables and past values. Tracking a periodic reference signal or rejection of a periodic disturbance signal is achieved by including a disturbance observer to estimate an input disturbance containing the same frequency characteristics. This new approach differs from previously published designs because it separates the design procedure into two tasks: first, stabilization via state feedback control; second, independent incorporation of the periodic modes via estimation of the disturbance. Moreover, the new design naturally contains an anti-windup mechanism when the control signal reaches its maximum or minimum value. Results from the experimental evaluation are given, including a comparison against a design that constructs a minimal state controller using an observer. These results demonstrate that the new method can deliver significant performance improvement, with excellent disturbance rejection and reference tracking.

Item Type:
Journal Article
Journal or Publication Title:
IEEE Transactions on Control Systems Technology
Uncontrolled Keywords:
/dk/atira/pure/subjectarea/asjc/2200/2208
Subjects:
ID Code:
178630
Deposited By:
Deposited On:
04 Nov 2022 10:55
Refereed?:
Yes
Published?:
Published
Last Modified:
22 Nov 2022 11:54